Conditional integrator for non-minimum phase nonlinear systems
Conditional integrator for non-minimum phase nonlinear systems
复制标题
非最小相位非线性系统的条件积分器
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
H. Khalil
中科院分区：
文献类型：
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作者：
Ranran Li;H. Khalil
本文提出了一种条件积分器来解决一类可能具有不稳定零动态的非线性系统的调节问题。该控制方案主要利用了文献[3]中提出的辅助控制器和一个慢积分器。我们提出的调节问题的解决方案，可以转换为两个辅助问题。此外，它示出的条件积分器的设计需要设计的反馈控制，同时解决两个镇定问题，一个内的连续实施的滑模控制的边界层，和一个外it.So辅助控制器的设计可以是独立的内部模型。我们通过使用两个时间尺度的方法来处理这个问题。通过一个线性例子说明了控制器的有效性。
In this paper we propose a conditional integrator for solving the regulation problem of a class of nonlinear systems that probably possess unstable zero dynamics. The control scheme mainly takes advantage of the auxiliary controller proposed in [3] and a slow integrator. We present that the solution of the regulation problem can be cast as two auxiliary problems. Furthermore it is shown that the design of the conditional integrator requires the design of a feedback control that solves two stabilization problems simultaneously, one inside the boundary layer of a continuously-implemented sliding model control, and one outside it. Hence the design of the auxiliary controller can be independent of the internal model. We approach this issue by using a two-time-scale method. The effectiveness of the controller is illustrated through a linear example.